1000Hz

By removing the rate pid from the crius, sending quantized data instead of floats through the serial port and compiling with -DNDEBUG to remove asserts I managed to send data at 1000Hz. I can go up to 1800Hz but since the MPU6050 can sample at max 1000 there’s no need for that.

Good to know that I still have extra CPU for when I’ll add the GPS code.

So 1000Hz is possible through a serial port at 5000000 baud, with cpu to spare.